[sim] Add GUI support for the REV PH (#6704)

glass/src/lib/native/cpp/hardware/Pneumatic.cpp

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "glass/hardware/PCM.h"
+#include "glass/hardware/Pneumatic.h"
 
 #include <cstdio>
 #include <cstring>
@@ -20,8 +20,8 @@
 
 using namespace glass;
 
-bool glass::DisplayPCMSolenoids(PCMModel* model, int index,
-                                bool outputsEnabled) {
+bool glass::DisplayPneumaticControlSolenoids(PneumaticControlModel* model,
+                                             int index, bool outputsEnabled) {
   wpi::SmallVector<int, 16> channels;
   model->ForEachSolenoid([&](SolenoidModel& solenoid, int j) {
     if (auto data = solenoid.GetOutputData()) {
@@ -50,7 +50,8 @@ bool glass::DisplayPCMSolenoids(PCMModel* model, int index,
     wpi::format_to_n_c_str(label, sizeof(label), "{} [{}]###header", name,
                            index);
   } else {
-    wpi::format_to_n_c_str(label, sizeof(label), "PCM[{}]###header", index);
+    wpi::format_to_n_c_str(label, sizeof(label), "{}[{}]###header",
+                           model->GetName(), index);
   }
 
   // header
@@ -85,32 +86,29 @@ bool glass::DisplayPCMSolenoids(PCMModel* model, int index,
   return true;
 }
 
-void glass::DisplayPCMsSolenoids(PCMsModel* model, bool outputsEnabled,
-                                 std::string_view noneMsg) {
+void glass::DisplayPneumaticControlsSolenoids(PneumaticControlsModel* model,
+                                              bool outputsEnabled,
+                                              std::string_view noneMsg) {
   bool hasAny = false;
-  model->ForEachPCM([&](PCMModel& pcm, int i) {
-    PushID(i);
-    if (DisplayPCMSolenoids(&pcm, i, outputsEnabled)) {
-      hasAny = true;
-    }
-    PopID();
-  });
+  model->ForEachPneumaticControl(
+      [&](PneumaticControlModel& pneumaticControl, int i) {
+        PushID(i);
+        if (DisplayPneumaticControlSolenoids(&pneumaticControl, i,
+                                             outputsEnabled)) {
+          hasAny = true;
+        }
+        PopID();
+      });
   if (!hasAny && !noneMsg.empty()) {
     ImGui::TextUnformatted(noneMsg.data(), noneMsg.data() + noneMsg.size());
   }
 }
 
-void glass::DisplayCompressorDevice(PCMModel* model, int index,
-                                    bool outputsEnabled) {
-  auto compressor = model->GetCompressor();
-  if (!compressor || !compressor->Exists()) {
-    return;
-  }
-  DisplayCompressorDevice(compressor, index, outputsEnabled);
-}
-
 void glass::DisplayCompressorDevice(CompressorModel* model, int index,
                                     bool outputsEnabled) {
+  if (!model || !model->Exists()) {
+    return;
+  }
   char name[32];
   wpi::format_to_n_c_str(name, sizeof(name), "Compressor[{}]", index);
 
@@ -155,8 +153,11 @@ void glass::DisplayCompressorDevice(CompressorModel* model, int index,
   }
 }
 
-void glass::DisplayCompressorsDevice(PCMsModel* model, bool outputsEnabled) {
-  model->ForEachPCM([&](PCMModel& pcm, int i) {
-    DisplayCompressorDevice(&pcm, i, outputsEnabled);
-  });
+void glass::DisplayCompressorsDevice(PneumaticControlsModel* model,
+                                     bool outputsEnabled) {
+  model->ForEachPneumaticControl(
+      [&](PneumaticControlModel& pneumaticControl, int i) {
+        DisplayCompressorDevice(pneumaticControl.GetCompressor(), i,
+                                outputsEnabled);
+      });
 }

glass/src/lib/native/include/glass/hardware/Pneumatic.h

@@ -4,7 +4,9 @@
 
 #pragma once
 
+#include <memory>
 #include <string_view>
+#include <utility>
 
 #include <wpi/function_ref.h>
 
@@ -34,27 +36,45 @@ class SolenoidModel : public Model {
   virtual void SetOutput(bool val) = 0;
 };
 
-class PCMModel : public Model {
+class PneumaticControlModel : public Model {
  public:
   virtual CompressorModel* GetCompressor() = 0;
 
   virtual void ForEachSolenoid(
       wpi::function_ref<void(SolenoidModel& model, int index)> func) = 0;
+
+  virtual std::string_view GetName() = 0;
 };
 
-class PCMsModel : public Model {
+class PneumaticControlsModel : public Model {
  public:
-  virtual void ForEachPCM(
-      wpi::function_ref<void(PCMModel& model, int index)> func) = 0;
+  virtual void ForEachPneumaticControl(
+      wpi::function_ref<void(PneumaticControlModel& model, int index)>
+          func) = 0;
 };
 
-bool DisplayPCMSolenoids(PCMModel* model, int index, bool outputsEnabled);
-void DisplayPCMsSolenoids(PCMsModel* model, bool outputsEnabled,
-                          std::string_view noneMsg = "No solenoids");
+struct AllPneumaticControlsModel : public Model {
+  AllPneumaticControlsModel(std::unique_ptr<PneumaticControlsModel> pcms,
+                            std::unique_ptr<PneumaticControlsModel> phs)
+      : pcms{std::move(pcms)}, phs{std::move(phs)} {};
+  std::unique_ptr<PneumaticControlsModel> pcms;
+  std::unique_ptr<PneumaticControlsModel> phs;
+  void Update() override {
+    pcms->Update();
+    phs->Update();
+  };
+  bool Exists() override { return true; }
+};
+
+bool DisplayPneumaticControlSolenoids(PneumaticControlModel* model, int index,
+                                      bool outputsEnabled);
+void DisplayPneumaticControlsSolenoids(
+    PneumaticControlsModel* model, bool outputsEnabled,
+    std::string_view noneMsg = "No solenoids");
 
-void DisplayCompressorDevice(PCMModel* model, int index, bool outputsEnabled);
 void DisplayCompressorDevice(CompressorModel* model, int index,
                              bool outputsEnabled);
-void DisplayCompressorsDevice(PCMsModel* model, bool outputsEnabled);
+void DisplayCompressorsDevice(PneumaticControlsModel* model,
+                              bool outputsEnabled);
 
 }  // namespace glass